Estudo de resiliência em comunicação entre sistemas Multirrobôs utilizando HLA

• Ano de defesa: 2016
• Autor(a) principal: Simão, Rivaldo do Ramos
• Tipo de documento: Dissertação
• Tipo de acesso: Acesso aberto
• Idioma: por
• Instituição de defesa: Universidade Federal da Paraíba; Brasil; Informática; Programa de Pós-Graduação em Informática; UFPB
• Palavras-chave em Português: Real-Time Data Base (RTDB); High Level Architecture (HLA); Multirrobôs. Simulação distribuída; Real-time Data Base (RTDB); Multi-robots. Distributed Simulation; CIENCIAS EXATAS E DA TERRA::CIENCIA DA COMPUTACAO
• Link de acesso: https://repositorio.ufpb.br/jspui/handle/tede/9284

Cooperation in a multi robot system has become a challenge to be overcome and turned into one of the biggest incentives for researchers in this area because communication appears as one of the most important requirements. This study aims to investigate the feasibility of using the distributed simulation environment called HLA (High-level Architecture) in the process of communication between members of a system with three and five computers. It simulates a multi-robot system in order to verify its behavior when one of them is replaced for another with limited processing power. Thus, a new communication approach based on HLA middleware was developed. In this approach, the robots adapt their transmission rate according to the performance of other robots. The accomplished experiments have shown that the real-time requirements of a robot soccer application have been achieved using this approach. It points to a new possibility of real-time communication between robots. On the exposed, in one experiment, a direct comparison was made between RTDB (Real-time database) middleware and the approach presented. It was verified that, in some contexts, the adaptive HLA is about 5 to 12 percent more efficient than RTDB.